#define _TASK_VISION_GLOBALS
#include "Task_Vision.h"
#include "Module_Vision.h"

extern short DistanceValue;
extern float ThetaValue;

__task void Vision_Align(void)
{
	while(1)
 	{
		Auto_PID_SetCurrent();
		Auto_Align_Adjust_PID();
		Auto_PID_SetTarget();
		
		//u1_printf("ThetaTarget:%f\r\tThetaCurrent:%f\r\tThetaPID_Out:%f\r\t\n",AlignSpeedPID_Y.Target,AlignSpeedPID_Y.Current,AlignSpeedPID_Y.Out);
		
		delay_ms(10);
 	}
	
}





